EP4071091B1 - Zentriervorrichtung für zu fördernde gegenstände und verpackungsvorrichtung für verpackungsmaterialien damit - Google Patents

Zentriervorrichtung für zu fördernde gegenstände und verpackungsvorrichtung für verpackungsmaterialien damit Download PDF

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Publication number
EP4071091B1
EP4071091B1 EP19957986.3A EP19957986A EP4071091B1 EP 4071091 B1 EP4071091 B1 EP 4071091B1 EP 19957986 A EP19957986 A EP 19957986A EP 4071091 B1 EP4071091 B1 EP 4071091B1
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EP
European Patent Office
Prior art keywords
guide member
pair
opening
centering device
closing shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19957986.3A
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English (en)
French (fr)
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EP4071091C0 (de
EP4071091A4 (de
EP4071091A1 (de
Inventor
Akio Oyama
Kenichi Shibao
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oak Teck Inc
Original Assignee
Oak Teck Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP4071091A1 publication Critical patent/EP4071091A1/de
Publication of EP4071091A4 publication Critical patent/EP4071091A4/de
Application granted granted Critical
Publication of EP4071091C0 publication Critical patent/EP4071091C0/de
Publication of EP4071091B1 publication Critical patent/EP4071091B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B65G47/244—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning them about an axis substantially perpendicular to the conveying plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
    • B65C9/065—Devices for presenting articles in predetermined attitude or position at labelling station for orienting articles having irregularities in their shape, the irregularities being detected by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/26—Devices for applying labels
    • B65C9/36—Wipers; Pressers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/02—Devices for feeding articles or materials to conveyors
    • B65G47/04—Devices for feeding articles or materials to conveyors for feeding articles
    • B65G47/12—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles
    • B65G47/14—Devices for feeding articles or materials to conveyors for feeding articles from disorderly-arranged article piles or from loose assemblages of articles arranging or orientating the articles by mechanical or pneumatic means during feeding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B65G21/2045—Mechanical means for guiding or retaining the load on the load-carrying surface
    • B65G21/2054—Mechanical means for guiding or retaining the load on the load-carrying surface comprising elements movable in the direction of load-transport
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers

Definitions

  • the present invention relates to a centering device for an object conveyed by, for example, a conveyor and to a packaging device for a packaging material including the centering device.
  • a known conveyance direction converting device is capable of changing the conveyance direction of a container containing food by rotating the container with a desired angle with respect to the conveyance direction in conveying the container by a conveyor.
  • a turntable is disposed on a conveyor for conveying the container, and the direction of the container on the turntable is changed with a desired angle and the container is conveyed downstream.
  • Patent Document 2 discloses an object centering device configured to center a conveyed object, the object centering device comprising a restricting guide member having a pair of guide surfaces, the pair of guide surfaces facing the object and being configured to be respectively in contact with at least a pair of opposed contact portions of the object, wherein the pair of guide surfaces of the restricting guide member has front end portions extending away from each other toward a downstream side in a conveyance direction of the object.
  • Patent Document 2 discloses an object centering device according to the preamble of claim 1.
  • the known conveyance direction converting device for containers as described in Patent Document 1 has to include a turntable dedicated to changing the direction and, therefore, has the problem of a complicated structure.
  • the device also has the problem of a decrease in processing speed because conveyance of the container is temporarily stopped in changing the direction of the container on the turntable.
  • a restricting guide member having a pair of guide surfaces to be individually in contact with contact portions of an object is provided.
  • a first aspect is directed to an object centering device configured to center a conveyed object
  • the object centering device includes a restricting guide member having a pair of guide surfaces, the pair of guide surfaces facing the object and being configured to be respectively in contact with at least a pair of opposed contact portions of the object, wherein the pair of guide surfaces of the restricting guide member has front end portions extending away from each other toward a downstream side in a conveyance direction of the object, and the front end portions are configured such that an angle formed by the pair of guide surfaces is changeable.
  • the pair of guide surfaces of the restricting guide member is respectively brought into contact with at least the pair of contact portions of the conveyed object and the angle of the object is modified with a downstream flow of the object so that a packaging material such as a label can be attached to an accurate location of the object in a subsequent process.
  • a packaging material such as a label
  • the angle is changeable, variations of objects for which positioning can be controlled increase.
  • the front end portions of the restricting guide member are coupled to each other such that a first front guide member and a second front guide member constituting the pair of guide surfaces are allowed to be opened and closed about a first opening/closing shaft, a rear end of the first front guide member is coupled and configured to be opened and closed about a second opening/closing shaft, and a rear end of the second front guide member is coupled and configured to be opened and closed about a third opening/closing shaft.
  • the inclination angle of the restricting guide member can be changed in accordance with the distance between the pair of contact portions of the object.
  • a pair of lateral guides stands to restrict the object conveyed by the conveyor in a lateral direction of the conveyor, and the first opening/closing shaft stands at a lateral center of the pair of lateral guides.
  • the second opening/closing shaft is coupled to a first posture maintaining member extending linearly and configured to be in contact with the contact portion
  • the third opening/closing shaft is coupled to a second posture maintaining member extending linearly and configured to be in contact with the contact portion
  • a height of the restricting guide member from a conveyance surface for the object is changeable in accordance with positions of the contact portions of the object.
  • the angle formed by the pair of guide surfaces is changeable by adjusting a distance between the second opening/closing shaft and the third opening/closing shaft by rotating a first handle near the restricting guide member, and a height of the restricting guide member is changeable by adjusting a height of the restricting guide member itself with a second handle near the first handle.
  • the restricting guide member can be easily moved to an optimum position in accordance with the position of at least the pair of contact portions of the object by operating the first handle and the second handle disposed close to each other.
  • conveyed objects of various shapes can be reliably modified to a desired orientation.
  • a packaging device includes: the object centering device of any one of the first through fifth aspects; a conveyor configured to convey the object; and a packaging material pressing mechanism configured to attach a packaging material to the object centered by the centering device.
  • posture of the object can be modified to a desired orientation by the restricting guide member, and thus, a packaging material can be reliably attached to a desired location of the object by the packaging material pressing mechanism.
  • orientation of a conveyed object is modified with a pair of guide surfaces of a restricting guide member being in contact with at least a pair of contact portions of the object, thereby making it possible to ease positioning of the object while suppressing a decrease in processing speed with a simple structure.
  • FIGS. 1A through 2 illustrate an object centering device 10 according to an embodiment of the present invention.
  • the object centering device 10 is configured to center a food container 50 (see FIGS. 3 through 8 ) for food as a conveyed object.
  • the object centering device 10 is disposed in, for example, a packaging device 1 for a packaging material illustrated in FIG. 3 .
  • the packaging device 1 includes a base frame 2 constituted by, for example, a metal frame.
  • the base frame 2 is provided with a conveyor 3 such as a belt conveyor so that the food container 50 is conveyed on a conveyance surface 3a from the left to the right in FIG. 3 .
  • a label feeder 4, a label printing mechanism 5, and a label pressing mechanism 6 as a packaging material pressing mechanism, for example, are disposed above the conveyor 3.
  • a pair of lateral guides 7 and 7 for preventing an outflow of an object from the conveyor 3 stands on both sides of the restricting conveyor 3. The front ends of the pair of lateral guides 7 and 7 expand toward the upstream side in the conveyance direction.
  • the label pressing mechanism 6 for restricting a movable range of the conveyed food container 50 in the lateral direction of the conveyor 3 attaches a label 60 (indicated by chain double-dashed lines in FIG. 4 ) as a packaging material to the food container 50 centered by the centering device 10.
  • a label 60 indicated by chain double-dashed lines in FIG. 4
  • necessary items are printed on the band-shaped label 60 perpendicular to the conveyance direction, and the label 60 is attached to the food container 50.
  • the object centering device 10 includes a restricting guide member 11 having a pair of guide surfaces 11b and 11c facing the food container 50 and configured to be respectively in contact with at least a pair of opposed contact portions 51 and 51 of the food container 50.
  • the pair of guide surfaces 11b and 11c of the restricting guide member 11 includes front end portions 11a extending away from each other toward the downstream side in the conveyance direction of the food container 50.
  • the front end portions 11a are configured to change an angle ⁇ formed by the pair of guide surfaces 11b and 11c.
  • the front end portions 11a of the restricting guide member 11 are configured such that a first front guide member 12 and a second front guide member 13 constituting the pair of guide surfaces 11b and 11c are allowed to be opened and closed about a first opening/closing shaft 14.
  • the first opening/closing shaft 14 stands at the center in the lateral direction of the pair of lateral guides 7 and 7.
  • the first opening/closing shaft 14 is similar to, for example, a swing shaft of a door hinge, and the first front guide member 12 and the second front guide member 13 are coupled to each other to be swingable about the first opening/closing shaft 14.
  • the rear end of the first front guide member 12 is coupled to be opened and closed about the second opening/closing shaft 15.
  • the rear end of the second front guide member 13 is coupled to be opened and closed about a third opening/closing shaft 16.
  • the second opening/closing shaft 15 and the third opening/closing shaft 16 have structures similar to that of the swing shaft of the door hinge.
  • such a simple structure enables a change of the angle ⁇ of the restricting guide member 11 in accordance with the distance between the pair of contact portions 51 and 51 of the food container 50.
  • a pair of posture maintaining members 19 extending along the conveyance direction and configured to be in contact with the contact portions 51 and 51 is disposed downstream of the restricting guide member 11.
  • the posture maintaining members 19 are configured to be in contact with the contact portions 51 and 51 such that the posture of the centered food container 50 is maintained.
  • the angle ⁇ formed by the pair of guide surfaces 11b and 11c is changeable by adjusting the distance between the second opening/closing shaft 15 and the third opening/closing shaft 16 (the width W between the pair of posture maintaining members 19) by rotating the first handle 17 near the restricting guide member 11.
  • the first ball screw 17a extending horizontally rotates so that the distance (width W) between the second opening/closing shaft 15 and the third opening/closing shaft 16 can be increased or reduced.
  • the distance is displayed on a first memory display 17b.
  • a height H of the restricting guide member 11 from the conveyance surface 3a for the food container 50 is changeable in accordance with the positions of the contact portions 51 and 51 of the food container 50.
  • the height H of the restricting guide member 11 is changeable by adjusting the height H of the restricting guide member 11 itself with a second handle 18 near the first handle 17.
  • a second ball screw 18a extending vertically rotates so that the entire restricting guide member 11 moves upward and downward. The height is displayed on the second memory display 18b.
  • the food container 50 includes, for example, a disc-shaped lid member 53 of a thin resin product and a circular cross-section container portion 54.
  • the circular cross-section container portion 54 containing food is closed with the disc-shaped lid member 53.
  • the band-shaped label 60 (indicated by chain double-dashed lines only in FIG. 4 ) is attached to the food container 50 by the packaging device 1 such that the label 60 extends in a direction perpendicular to the conveyance direction.
  • Each of the stacking ribs 52 protrude upward from the disc-shaped lid member 53 to prevent displacement between upper and lower food containers 50 in stacking these food containers 50.
  • Each of the stacking ribs 52 includes at least a pair of contact portions 51 and 51 (where two pairs of, that is, four in total, contact portions 51 are formed in this embodiment, but at least a pair of opposed contact portions 51 and 51 is sufficient).
  • a flat surface 55 is formed between the pair of opposed contact portions 51, and the label 60 is attached to the flat surface 55 to extend along a direction perpendicular to the conveyance direction.
  • the flat surface 55 is provided with no projections that might be hooked to the bottom surface of the restricting guide member 11.
  • the food container 50 is conveyed from the downstream side in a state where the label 60 can be easily attached to the food container 50. Even in this state, however, the food container 50 is conveyed with an inclination to some extent with respect to the conveyance direction, as illustrated in FIG. 6 .
  • the pair of guide surfaces 11b and 11c of the restricting guide member 11 is respectively in contact with the two front and rear pairs of contact portions 51 and 51 of the conveyed food container 50.
  • the entire food container 50 is centered by the pair of lateral guides 7 and 7, and the pair of guide surfaces 11b and 11c of the restricting guide member 11 is brought into contact with the pairs of contact portions 51 and 51 of the food container 50 so that the angle (posture) of the food container 50 is gradually modified in accordance with a downstream conveyance of the food container 50.
  • the food container 50 is conveyed downstream by the pair of posture maintaining members 19 while being hardly inclined.
  • the label 60 can be attached to an accurate position.
  • the angle ⁇ and the height H of the restricting guide member 11 are adjusted by operating the first handle 17 and the second handle 18 disposed close to each other. Then, the restricting guide member 11 can be easily moved to an optimum position in accordance with the positions of the contact portions 51 and 51 of the food container 50, and thus, the orientation of the conveyed food containers 50 can be easily and reliably modified.
  • the label pressing mechanism 6 can reliably attach the label 60 to a desired location of the food container 50.
  • a high-cost camera and positioning control using images from the camera are unnecessary.
  • the object centering device 10 eases positioning of the food container 50 while suppressing a decrease in processing speed with a simple structure.
  • the embodiment of the present invention may have the following configurations.
  • the band-shaped label 60 is disposed in an upstream portion of the packaging device 1 for a packaging material to be attached to the food container 50, but the invention is not limited to the packaging device 1 for the packaging material, and is widely applicable to a device in which the orientation of the food container 50 conveyed on the conveyor 3 needs to be modified by using at least the pair of contact portions 51 and 51.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • Framework For Endless Conveyors (AREA)
  • Wrapping Of Specific Fragile Articles (AREA)
  • Labeling Devices (AREA)

Claims (6)

  1. Objektzentriervorrichtung, die dazu konfiguriert ist, ein befördertes Objekt zu zentrieren, wobei die Objektzentriervorrichtung Folgendes umfasst:
    ein Begrenzungsführungselement (11) mit einem Paar Führungsoberflächen (11b, 11c), wobei das Paar Führungsoberflächen (11b, 11c) dem Objekt zugewandt und dazu konfiguriert ist, jeweils mit mindestens einem Paar gegenüberliegender Kontaktabschnitte (51, 51) des Objekts in Kontakt zu stehen, wobei
    das Paar Führungsoberflächen (11b, 11c) des Begrenzungsführungselements (11) vordere Endabschnitte (11a) aufweist, die sich voneinander weg in Richtung einer stromabwärtigen Seite in einer Förderrichtung des Objekts erstrecken, und dadurch gekennzeichnet, dass
    die vorderen Endabschnitte (11a) so konfiguriert sind, dass ein durch das Paar Führungsoberflächen (11b, 11c) gebildeter Winkel veränderbar ist,
    die vorderen Endabschnitte (11a) des Begrenzungsführungselements (11) so miteinander gekoppelt sind, dass ein erstes vorderes Führungselement (12) und ein zweites vorderes Führungselement (13), die das Paar Führungsoberflächen (11b, 11c) bilden, um eine erste Öffnungs-/Schließwelle (14) geöffnet und geschlossen werden können,
    ein hinteres Ende des ersten vorderen Führungselements (12) gekoppelt und dazu konfiguriert ist, um eine zweite Öffnungs-/Schließwelle (15) geöffnet und geschlossen zu werden, und
    ein hinteres Ende des zweiten vorderen Führungselements (13) gekoppelt und dazu konfiguriert ist, um eine dritte Öffnungs-/Schließwelle (16) geöffnet und geschlossen zu werden.
  2. Objektzentriervorrichtung nach Anspruch 1, wobei
    ein Paar seitlicher Führungen (7, 7) vorhanden ist, um das von dem Förderer geförderte Objekt in einer seitlichen Richtung des Förderers zu begrenzen, und
    die erste Öffnungs-/Schließwelle (14) in der seitlichen Mitte des Paars seitlicher Führungen (7, 7) vorhanden ist.
  3. Objektzentriervorrichtung nach Anspruch 1 oder 2, wobei
    die zweite Öffnungs-/Schließwelle (15) mit einem ersten die Stellung beibehaltenden Element gekoppelt ist, das sich linear erstreckt und dazu konfiguriert ist, mit dem Kontaktabschnitt (51) in Kontakt zu stehen, und
    die dritte Öffnungs-/Schließwelle (16) mit einer zweiten die Stellung beibehaltenden Element gekoppelt ist, das sich linear erstreckt und dazu konfiguriert ist, mit dem Kontaktabschnitt (51) in Kontakt zu stehen.
  4. Objektzentriervorrichtung nach einem der Ansprüche 1 bis 3, wobei eine Höhe des Begrenzungsführungselements (11) von einer Förderoberfläche für das Objekt entsprechend den Positionen der Kontaktabschnitte des Objekts veränderbar ist.
  5. Objektzentriervorrichtung nach Anspruch 3, wobei
    der durch das Paar Führungsoberflächen (11b, 11c) gebildete Winkel durch Einstellen eines Abstands zwischen der zweiten Öffnungs-/Schließwelle (15) und der dritten Öffnungs-/Schließwelle (16) veränderbar ist, indem ein erster Griff in der Nähe des Begrenzungsführungselements (11) gedreht wird, und
    eine Höhe des Begrenzungsführungselements (11) durch Einstellen einer Höhe des Begrenzungsführungselements selbst mit einem zweiten Griff (18) in der Nähe des ersten Griffs (17) veränderbar ist.
  6. Verpackungsvorrichtung für ein Verpackungsmaterial (1), wobei die Verpackungsvorrichtung Folgendes umfasst:
    die Objektzentriervorrichtung nach einem der Ansprüche 1 bis 5;
    einen Förderer, der dazu konfiguriert ist, das Objekt zu befördern; und
    einen Verpackungsmaterial-Pressmechanismus, der dazu konfiguriert ist, ein Verpackungsmaterial an dem durch die Zentriervorrichtung zentrierten Objekt anzubringen.
EP19957986.3A 2019-12-24 2019-12-24 Zentriervorrichtung für zu fördernde gegenstände und verpackungsvorrichtung für verpackungsmaterialien damit Active EP4071091B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/050605 WO2021130853A1 (ja) 2019-12-24 2019-12-24 搬送物のセンタリング装置及びそれを備えた包装材の包装装置

Publications (4)

Publication Number Publication Date
EP4071091A1 EP4071091A1 (de) 2022-10-12
EP4071091A4 EP4071091A4 (de) 2022-12-21
EP4071091C0 EP4071091C0 (de) 2023-09-06
EP4071091B1 true EP4071091B1 (de) 2023-09-06

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EP19957986.3A Active EP4071091B1 (de) 2019-12-24 2019-12-24 Zentriervorrichtung für zu fördernde gegenstände und verpackungsvorrichtung für verpackungsmaterialien damit

Country Status (8)

Country Link
US (1) US20230029717A1 (de)
EP (1) EP4071091B1 (de)
JP (1) JP7105531B2 (de)
KR (1) KR102543677B1 (de)
CN (1) CN114845945B (de)
AU (1) AU2019480153B2 (de)
CA (1) CA3162534C (de)
WO (1) WO2021130853A1 (de)

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CN109264349A (zh) * 2018-09-12 2019-01-25 王少明 一种移动式机动车轮胎对中放置机构
KR102126483B1 (ko) * 2020-02-21 2020-06-24 김수석 유리 이송 장치
CN113844867B (zh) * 2021-11-29 2022-02-22 山东德晟机器人股份有限公司 一种内保护环输送及上料装置

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JP7105531B2 (ja) 2022-07-25
CN114845945B (zh) 2022-10-25
US20230029717A1 (en) 2023-02-02
EP4071091C0 (de) 2023-09-06
CA3162534C (en) 2023-01-03
AU2019480153A1 (en) 2022-08-04
KR102543677B1 (ko) 2023-06-14
EP4071091A4 (de) 2022-12-21
WO2021130853A1 (ja) 2021-07-01
KR20220109472A (ko) 2022-08-04
CN114845945A (zh) 2022-08-02
EP4071091A1 (de) 2022-10-12
AU2019480153B2 (en) 2022-09-01
CA3162534A1 (en) 2021-07-01

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